Method for autonomously training an animal to respond to oral commands

ABSTRACT

One variation of a method for autonomously training animals to respond to oral commands includes: prompting a user to select a training protocol; prompting the user to record a first audio clip of the user reciting a voice command associated with a target pose within the training protocol, the user affiliated with the animal; accessing a video feed recorded by an optical sensor during a first training session; in the video feed, detecting the animal within a working field; while the animal is detected in the working field, playing back the first audio clip; in the video feed, detecting a current pose of the animal; calculating a deviation between the current pose of the animal and the target pose; in response to the deviation falling within a threshold: playing an audio clip of a secondary reinforcer; and dispensing a unit of a primary reinforcer via an integrated dispenser.

CROSS-REFERENCE TO RELATED APPLICATIONS

This Application claims the benefit of U.S. Provisional Application No.62/674,575, filed on 21 May 2018, which is incorporated in its entiretyby this reference.

TECHNICAL FIELD

This invention relates generally to the field of animal training andmore specifically to a new and useful method for autonomously shapingbehavior of an animal in the field of animal training.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a flowchart representation of a first method;

FIG. 2 is a schematic representation of a training apparatus;

FIG. 3 is a flowchart representation of a second method;

FIG. 4 is a flowchart representation of one variation of the secondmethod; and

FIG. 5 is a flowchart representation of a third method.

DESCRIPTION OF THE EMBODIMENTS

The following description of embodiments of the invention is notintended to limit the invention to these embodiments but rather toenable a person skilled in the art to make and use this invention.Variations, configurations, implementations, example implementations,and examples described herein are optional and are not exclusive to thevariations, configurations, implementations, example implementations,and examples they describe. The invention described herein can includeany and all permutations of these variations, configurations,implementations, example implementations, and examples.

1. First Method—Position Tracking

As shown in FIG. 1 a first method S100 for autonomously training ananimal to respond to oral commands includes: recording a first image ofa working field at a first time during a training routine in Block S110;detecting a first position of the animal and a first pose of the animalin the working field in the first image in Block S120; aligning adispenser, preloaded with a primary reinforcer, to the first position atapproximately the first time in Block S130; recording a second image ofthe working field at a second time succeeding the first time in BlockS112; detecting a second position of the animal and a second pose of theanimal in the working field in the second image in Block S122; and, inresponse to the second pose corresponding to a target pose specified bythe training routine, triggering the dispenser to eject the primaryreinforcer into the working field in Block S140.

1.1 Applications

Generally, the first method S100 can be executed by an apparatus 100 totrain an animal to respond to oral commands (and/or other visible oraudible signals). In particular, the training apparatus 100 can includea freestanding structure containing: a primary reinforcer reservoir; adispenser configured to eject primary reinforcers from the reservoirinto a field occupied by a domesticated animal; a speaker configured tooutput audible cues; a suite of optical sensors facing the field; and aprocessor configured to implement computer vision and/or artificialintelligence techniques to interpret positions and poses of the animalwithin the field from images recorded by the optical sensors. During anautonomous training protocol with the animal, if the processordetermines that a pose of the animal sufficiently matches a targetposition, that a pose of the animal sufficiently aligns with a targetpose corresponding to a tone or oral command (hereinafter an “audiblecue”) replayed through the speaker, and/or that a pose of the animalsufficiently aligns with a path to the target position or target pose,the processor can trigger the dispenser to eject a primary reinforcerinto the field, thereby positively reinforcing the animal's associationbetween this tone or oral command and this pose.

However, the speed with which the animal may develop a positiveassociation between this audible cue and this pose decrease as time fromentry into this pose and consumption (or “assimilation”) of positivereinforcement (e.g., a treat) increases. Therefore, the trainingapparatus 100 can locally implement computer vision and/or artificialintelligence techniques to detect the pose and position of the animal inthe field ahead of the training apparatus 100 in order to minimizelatency from entry of the animal into this pose and detection of theanimal in this pose by the training apparatus 100. The trainingapparatus 100 can also maintain the dispenser in a “preloaded” state inorder to minimize a time from detection of the animal in this pose andejection of a primary reinforcer (e.g., a treat) into the field.Furthermore, the training apparatus 100 can include a horizontalposition actuator configured to sweep an output of the dispenserhorizontally across the field, and the training apparatus 100 cancontrol the horizontal position actuator to maintain an axis of thedispenser in-line with the animal based on the position of the animaldetected in the field such that an ejected primary reinforcer falls ator near the animal's front feet (or in or near the animal's mouth),thereby limiting a distance the animal must traverse to collect theprimary reinforcer and minimizing a time from ejection of the primaryreinforcer from the dispenser and consumption of the primary reinforcerby the animal.

For example, during a training protocol to teach a dog to respond to a“sit” command, the training apparatus 100 can detect the dog in thefield and regularly update the position of the dispenser to align to theposition of the dog in the field, such as at a rate of 30 Hz. When thetraining apparatus 100 detects that the dog has entered into a “sitting”pose—such as naturally early in the training protocol, when promptedwith a tone in the middle of the training protocol, and when promptedvia playback of a prerecorded oral “sit” command toward the end of thetraining protocol—the training apparatus 100 can immediately and rapidlydispense (e.g., “eject”) a primary reinforcer that lands at the dog'sfeet, such as in less than 300 milliseconds. Because the primaryreinforcer has landed at or near the dog's feet, the dog may then bendher neck down to consume the primary reinforcer without leaving the“sitting” pose (i.e., rather than stand and walk toward a primaryreinforcer dispensed elsewhere in the field). The training apparatus 100can therefore rapidly reward the dog for entering a target pose andenable the dog to consume this reinforcement within less than twoseconds of entering this pose, thereby enabling the dog to rapidlydevelop a positive association (e.g., a “reinforcement contingency”)between this pose and an audible cue.

The training apparatus 100 is described below as executing Blocks of thefirst method S100 to train a dog to “sit” upon command. However, thetraining apparatus 100 can implement similar methods and techniques tooutput other audible queues to an animal of any other type, to rapidlydetect other poses by this animal, and to output positive reinforcement(e.g., by dispensing primary reinforcers) for the animal in order totrain the animal to respond to various oral commands by performingindicated behaviors.

1.2 System

As shown in FIG. 2 , the training apparatus 100 can include: a suite ofoptical sensors configured to record images (e.g., color and/or depthimages) of a field ahead of the training apparatus 100 (hereinafter a“working field”); a speaker configured to output audible cues; awireless communication module configured to download data and/or ananimal model from a remote database or local computing device; a primaryreinforcer reservoir configured to store units of a primary reinforcer,such as loose primary reinforcers or primary reinforcers in a magazine;a dispenser configured to eject primary reinforcers into the workingfield; a loader configured to load individual primary reinforcer unitsfrom the reservoir into the dispenser; a processor configured tointerpret positions and poses of an animal in the working field in(near) real-time from images recorded by the suite of optical sensors,to confirm whether a position and/or pose of the animal matches acurrent command or training goal of a current training protocol, to movethe dispenser into axial alignment with the animal as the animal movesthrough the working field, and to selectively trigger the dispenser toeject a primary reinforcer unit toward the animal accordingly; and ahousing containing these elements.

1.2.1 Optical Sensors

In one implementation, the training apparatus 100 includes: a colorcamera configured to output 2D color images (hereinafter “colorimages”); and a depth camera configured to output 3D depth maps or pointclouds (hereinafter “depth images”). In this implementation, the colorand depth camera can be arranged in fixed positions on the housing andcan define fields of view directed outwardly from the housing to definethe working field in which the training apparatus 100 identifies,tracks, and selectively rewards an animal.

1.2.2 Wireless Communication Module

The wireless communication module can include a wireless transceiverconfigured to connect to an external device and to retrieve various datafrom this device. For example, the training apparatus 100 can connect toa user's smartphone or tablet—executing a native dog trainingapplication—to access: animal characteristics or descriptors input bythe user; oral commands spoken by the user and recorded by the user'sdevice; and/or training protocol preferences or selections entered bythe user at the device. The wireless communication module can alsodownload a generic animal model from a remote database. Alternatively,the wireless communication module can download a particular animalmodel—from a set of available animal models—more tailored to detectingand identifying a particular animal designated for training by thetraining apparatus 100, such as based on a species, breed, age, size, ormarkings of the animal input by the user into the native dog applicationexecuting on her smartphone or tablet.

Furthermore, the wireless communication module can upload color and/ordepth images recorded by the training apparatus 100 to a remote serverin order to expand a training set of images of animals available to theremote server; the remote server can then retrain an animal model basedon these additional data and redeploy the animal model to the trainingapparatus 100 (and to other instances of the training apparatus 100) toimprove detection of an animal and identification of poses of theanimal.

1.2.3 Reservoir and Loader

The primary reinforcer reservoir is configured to store many primaryreinforcer units. For example, the reservoir can include a containerconfigured to store loose primary reinforcers, a removable locking lid,and an outlet port that releases primary reinforcer units into theloader. The loader is configured to sequentially move individual primaryreinforcer units out of the reservoir and into the dispenser. In oneimplementation, the loader includes an auger extending into the outputport of the reservoir, terminating over the dispenser, and powered by aloader actuator that rotates the auger to transfer individual primaryreinforcer units from the reservoir into the dispenser.

In another implementation, the loader includes a magazine arrangedinside the reservoir, configured to rotate inside the reservoir whenpowered by a loader actuator, and defining one or more primaryreinforcer slots configured to sequentially align with the outlet portin the reservoir. In this implementation, each primary reinforcer slotcan be sized to accept one primary reinforcer unit, and the reservoircan include a guard arranged inside the reservoir over the outlet portand offset from the outlet port by a distance sufficient for themagazine to pass between the guard and the outlet port. To dispense aprimary reinforcer unit, the loader actuator (e.g., a rotary electricmotor) can index the magazine forward by an angular distance betweenadjacent primary reinforcer slots in the magazine, thereby aligning anext primary reinforcer slot—currently loaded with a primary reinforcerunit—with the outlet port in the reservoir, which releases this primaryreinforcer unit from this primary reinforcer slot toward the dispenserwhile the guard prevents additional primary reinforcer units fromflowing down into this primary reinforcer slot and through the outletport in the reservoir.

(The loader can also include an optical detector or other sensorarranged across the outlet port in the retainer plate and configured tooutput a signal indicating that a primary reinforcer unit has passedthrough the outlet port and into the dispenser below.)

1.2.4 Dispenser

The dispenser is configured to eject a primary reinforcer unit into thefield, such as to a target lateral and depth position in the workingfield to land at an animal's feet or along a target trajectory to landat or near the animal's mouth.

In one implementation, the dispenser includes: a chamber arranged belowthe outlet of the loader (e.g., at the output end of the auger-typeloader or below the outlet port of the reservoir) and configured toreceive individual primary reinforcer units from the loader; an orificeor barrel extending from the chamber and facing the working field; awiper (or a pin) configured to advance and retract behind the chamber;and a dispenser actuator configured to rapidly advance the wiper (or thepin) forward toward the chamber to drive an individual primaryreinforcer unit through the orifice and into the working field. Forexample, the actuator can include a solenoid configured to drive thewiper (or the pin) forward when triggered by the processor. In anotherexample, the wiper (or the pin) is spring loaded; and the dispenserincludes a linear or rotary actuator configured to retract the wiper (orpin) and a second actuator configured to release the wiper (or the pin)to drive the wiper forward and thus project an individual primaryreinforcer unit from the dispenser.

The dispenser (and loader and/or reservoir) can also be mounted on agimbal configured to pivot (approximately) in the horizontal plane; andthe training apparatus 100 can include a horizontal position actuator(e.g., a rotary electric motor) configured to rotate the gimbal in orderto sweep the orifice of the dispenser through a range of angularpositions—in the horizontal plane—across the working plane, such as tomaintain the axis of the dispenser in alignment with an animal detectedin the working field. The dispenser can also include an angular positionsensor (e.g., an optical encoder, a potentiometer) configured to outputan angular position of the gimbal relative to the housing.

However, the training apparatus 100 can include any other mechanismsconfigured to rapidly eject individual primary reinforcer units into theworking field when triggered by the processor and configured to sweep anaxis of the dispenser horizontally across the working field.

1.2.5 Vertical Position Adjustment

In one variation, the dispenser is mounted to a second gimbal configuredto pivot in the vertical plane; and the training apparatus 100 caninclude a vertical position actuator configured to pivot the secondgimbal to adjust an angular position of the dispenser in the verticalplane. In this variation, the training apparatus 100 can track theposition of the dog's mouth in the 3D working field and adjust both thehorizontal position actuator and the vertical orientation sensor suchthat a primary reinforcer unit ejected by the dispenser follows atrajectory that intersects the mouth of an animal in the working field,thereby further reducing a time from the training apparatus 100detecting the animal entering a target pose and consumption of areinforcement by the animal.

1.2.6 Speaker

As described above, the speaker is configured to output audible commandcues in order to elicit a behavior or pose by an animal in the workingfield. The speaker can also output audible reinforcer cues (e.g., anaudible tone) between detection of the animal performing the cuedbehavior or pose and ejection of a physical reinforcer (e.g., a “treat”)to the animal by the training apparatus 100 in order to bridge atemporal gap between proper response to the audible command cue by theanimal and the dispensation of the physical reinforcer to the animal.Over time, the animal may thus associate this audible reinforcer tonewith positive reinforcement, which may later permit the trainingapparatus 100 to output the audible reinforcer tone rather than thephysical reinforcer, such as if a primary reinforcer limit for theanimal has been reached during a current session.

1.2.7 Variations

In one variation, the training apparatus 100 also includes a visualdisplay—such as an LED array—configured to output visual cues to theanimal. In this variation, the system can implement methods andtechniques similar to those described below to output a visual queuecorresponding to a particular command and target response and toselectively dispense reinforcement to an animal (e.g., in the form of atreat) when the training apparatus 100 detects that the animal hascompleted the target response.

The training apparatus 100 can additionally or alternatively include anacoustic sensor (e.g., a microphone) configured to detect audiblesignals in the working field. For example, the training apparatus 100can implement methods and techniques similar to those described hereinto shape sound-related behaviors in an animal, such as responses to“speak” and “quiet” commands.

1.3 Initialization and Dog Profile

The training apparatus 100 can interface with a native application orweb application—executing on a user's computing device—to configure aseries of training protocols for a new animal. For example, once thetraining apparatus 100 is received by the user, the user can downloadthe native application to her smartphone and connect her smartphone tothe training apparatus 100, such as by: wirelessly pairing hersmartphone to the training apparatus 100; scanning a QR code arranged onthe training apparatus 100 to register the training apparatus 100 to hersmartphone; or by manually entering into the native application a uniquecode arranged on the training apparatus 100 or product packaging.

Once the training apparatus 100 is registered and connected to theuser's smartphone, the user can create a new profile for her dog withinthe native application and manually populate the new profile withvarious information, such as: a name; age; breed; size; and/or primarycolors of the dog's coat (e.g., black for a black Labrador orreddish-brown for a redbone coonhound). This new profile can be storedin a remote database, and the native application can upload these datato the new profile via the Internet.

1.3.1 Oral Commands

Once a new profile is thus created for the user's dog, the nativeapplication can prompt the user to recite various oral commands for thedog and record these oral commands. For example, the native applicationcan prompt the user to orally recite her preferred forms of various oralcommands including: “watch me”; “sit”; “down”; “stand”; “stay”; “heel”;“wait”; “come”; “drop it”; and/or “crate”; etc. During this setupprocess, the native application can: record a discrete soundbite as theuser recites each of these oral commands and a name of her dog; and tageach of these soundbites with a tag for the corresponding command or petname. The native application can then upload these tagged soundbites tothe training apparatus 100 (e.g., directly via a local ad hoc wirelessnetwork).

1.3.2 Visual Animal Characteristics

In one variation, the native application also collects informationrelated to visual characteristics of the user's dog. The trainingapparatus 100 can then leverage these data to select or tune an animalmodel to reduce a speed and increase an accuracy with which the trainingapparatus 100 implements the animal model to detect presence, locations,and poses of the user's dog in the working field, thereby reducinglatency and false positive training events and enabling the dog to makemore accurate associations between commands and poses even more quickly.

In one implementation, the native application prompts the user to recordan image of her dog or to select an existing image of her dog stored onher smartphone. Alternatively, the native application can prompt theuser to place her dog in front of the training apparatus 100 and thentrigger the training apparatus 100 to record an image of the dog. Oncean existing image of the dog is selected by the user or once a new imageof the dog is recorded at the smartphone or system, the nativeapplication can render the image on a screen of the smartphone andprompt the user to manually indicate the dog in the image, such as bymanually drawing a box, drawing a perimeter, or otherwise manuallyhighlighting the dog in the image. Alternatively, the native applicationcan: implement computer vision techniques to detect a dog in the image(or to detect pixels in the image likely to represent a “dog” or an“animal” more generally); render the image on a display of the user'ssmartphone; highlight a contiguous cluster of pixels likely to representa dog or an animal more generally; and then prompt the user to confirmthat these pixels represent the user's dog or to adjust this highlightedarea to better encompass the dog shown in this image. For example, thenative application can implement a generic animal model—similar oridentical to an animal model implemented by the training apparatus100—to predict a location of a dog in the image, prompt the user toconfirm that the native application's prediction is correct or tomanually modify this prediction, and then return the image and thesefeedback to a remote computer system, which can then retrain the genericanimal model or train a custom animal model for the user's dog based onthese feedback provided by the user.

In another example, the native application (or a remote computer system)can: extract visual characteristics of the dog from the image selectedby the user, such as by extracting frequencies (e.g., rates ofrecurrence, a histogram) of colors present in a region of the imageconfirmed by the user as representing the dog; and then write to thedog's profile up to three distinct, highest-frequency colors extractedfrom this region of the image. The training apparatus 100 (or the remotecomputer system) can then tune an animal model to detect the dog in acolor image—recorded by the color camera during a subsequent trainingprotocol—based on these highest-frequency colors more representative ofthe dog's coat.

The native application (or the remote computer system) can also estimatea size of the dog from the image selected by the user or otherwiseprompt the user to indicate a size of the dog, such as in length orheight dimensions or in weight, and then store this size value in thedog's profile. The training apparatus 100 (or the remote computersystem) can then tune an animal model to detect the dog in a depthimage—recorded by the depth camera during a subsequent trainingprotocol—based on a size of the dog.

Similarly, the native application (or the remote computer system) canimplement computer system techniques to extract geometries of the dogfrom the image selected by the user or otherwise prompt the user toenter additional characteristics of her dog, such as whether the doghas: short or long legs; a short or long torso; a round or taperedtorso; a tail or no tail; a short or long nose; a short or long coat;natural or cropped ears; and/or a small or large ratio of height tolength; etc. The training apparatus 100 (or the remote computer system)can then tune an animal model to detect the dog in color and/or depthimages—recorded by the suite of optical sensors during a subsequenttraining protocol—based on a combination of such characteristics of thedog.

(Alternatively, the training apparatus 100 can implement any of theforegoing processes locally to initialize a new profile for the user'sdog, to aggregate soundbites of the user reciting various commands, andto aggregate features or characteristics of the dog, etc. via a userinterface integrated in the training apparatus 100.)

1.4 Animal Model

In one variation, prior to a first training protocol with the dog (e.g.,a first “introduction protocol”), the training apparatus 100 can: querya remote database for a dog presence and pose detection model trained onimages of dogs of an age, breed, size, shape, and/or coat length, etc.that are the same or similar to characteristics stored in the dog'sprofile; and then download this animal model from the remote database,such as over the internet or via the user's smartphone or tablet.Similarly, the native application, the training apparatus 100, and/orthe remote computer system can: tune a generic animal model based onvarious characteristics stored in the dog profile; or select one animalmodel—from a corpus of existing animal models—developed to detectpresence and pose of dogs exhibiting various characteristics similar tothose of the dog. The training apparatus 100 can then implement a localcopy of this animal model to rapidly detect presence (i.e., location andorientation) and pose of the dog in images recorded by the trainingapparatus 100 during a subsequent training protocol with the dog. Byaccessing an animal model “tuned” to detecting presence and pose ofanimals exhibiting characteristics similar to those aggregated into thedog's profile during setup, the training apparatus 100 may detect thepresence and orientation of the dog in the working field more quicklyand with increased confidence.

Alternatively, the training apparatus 100 can implement a generic animalmodel to detect the presence and orientation of the dog in the workingfield, such as if limited information about the dog is provided by theuser during setup.

1.5 Tracking Dog Position and Dispenser Position Update

During a training protocol, the training apparatus 100 can regularly:record color and/or depth images of the working field; implement theanimal model to detect a position and pose of the dog; and regularlyupdate the position of the horizontal position actuator (and thevertical position actuator) to align the dispenser to the dog (e.g., tothe center of the dog's front feet or to the dog's mouth) in real-time,such as at a rate of 30 Hz. In particular, by regularly recording andscanning images of the working field for the dog, the training apparatus100 can rapidly determine whether the dog has entered a target positionspecified in the current training protocol and thus minimize a time todetect that the dog has responded to a command. Furthermore, by trackingthe dog in the working field and updating positions of various actuatorsin the training apparatus 100 in real-time to align the output of thedispenser to the dog, the training apparatus 100 can immediately eject aprimary reinforcer unit directly at the dog's feet and thus minimize atime from detecting that the dog has responded to a command toconsumption of a reinforcement by the dog.

In one implementation, the training apparatus 100 records a baselinedepth image and a baseline color image of the working field, such as inresponse to confirmation from the user—at the native application—that noanimal is in the working field. (Alternatively, the training apparatus100 can develop a baseline depth image and a baseline color image basedon features that remain unchanged over sequences of depth and colorimages recorded by the training apparatus 100 over time.)

During a training protocol, the training apparatus 100 can: record acolor image and a concurrent depth image; compare the color image to thebaseline color image to isolate a change in the working fieldrepresented in this color image; a region of the color image thatdiffers from the baseline color image to the animal model stored locallyon the training apparatus 100 to interpret this region as eitherrepresenting a dog or not representing a dog (or a probability thatpixels in this region of the color image represent a dog). With thissame animal model or with a separate pose model stored on the trainingapparatus 100, the training apparatus 100 can also interpret a pose ofthe dog depicted in this region of the color image. The trainingapparatus 100 can then: isolate a region of the depth imagecorresponding to the region in the color image identified as the dog;and then extract a longitudinal distance and a lateral distance of thedog—from the depth camera or from another reference origin on thetraining apparatus 100—from this region of the depth image. The trainingapparatus 100 can then: transform this longitudinal distance and lateraldistance into an angular position of the dispenser in the horizontalplane; and drive the horizontal position actuator to this angularposition. The training apparatus 100 can also: transform thislongitudinal distance and lateral distance into a target distance fromthe training apparatus 100 to the dog along the ground plane; and adjusta speed of the dispenser and/or a position of the vertical positionactuator to prepare the training apparatus 100 to eject a next primaryreinforcer unit to this target distance.

In one variation, the training apparatus 100 can additionally oralternatively: detect the dog's head or mouth in the color image;isolate the dog's head or mouth in the concurrent depth image based on aknown offset between the color camera and the depth camera; detect orfit a ground plane in the concurrent depth image; and extract alongitudinal distance, a lateral distance, and a height of the dog'shead or mouth in the working field relative to a reference origindefined by the training apparatus 100. The training apparatus 100 canthen: transform this longitudinal distance and lateral distance into anangular position of the dispenser in the horizontal plane; drive thehorizontal position actuator to this angular position; transform thelongitudinal distance and lateral distance into a minimum distance fromthe training apparatus 100 to the dog along the ground plane; transformthe minimum distance along the ground plane and the height of the dog'shead or mouth into a target primary reinforcer trajectory; and thenadjust a setting or function within the dispenser and/or drive thevertical position actuator in the dispenser to a corresponding angularposition to prepare the training apparatus 100 to eject a next primaryreinforcer unit along this trajectory.

The training apparatus 100 can repeat the foregoing methods andtechniques to record a next set of depth and color images, to detect thedog in the working field, and to drive actuators within the trainingapparatus 100 to align the dispenser to the dog (or to the dog's head ormouth, more specifically), such as at a rate of 30 Hz. However, thetraining apparatus 100 can implement any other method or technique todetect a dog in the field ahead of the sensor and at any other rate; thetraining apparatus 100 can also implement any other controls to updatethe position of the dispenser to align the trajectory of a primaryreinforcer ejected from the dispenser to the dog detected in the field.

1.6 Primary reinforcer Dispense Routine

Upon detecting that the dog has entered or passed through a target posespecified in a current training protocol, the training apparatus 100 canimmediately execute a dispense routine to trigger the dispenser to ejecta primary reinforcer unit into the working field. In particular, becausethe training apparatus 100 maintains the dispenser in alignment with thedog during a training routine, the dispenser can rapidly eject a primaryreinforcer that may land immediately at the dog's feet once triggered.Rather than train the dog to complete a commanded action, walk toward adispensed primary reinforcer, and only then consume a reinforcement forperforming this action—which may reinforce the dog leaving its currentpose (e.g., sitting, laying down) after completing an action to collectits reinforcement and which may thus obfuscate the dog's associationbetween the command and a particular action or pose—the trainingapparatus 100 can instead reward the dog for completing the actionexclusively by dispensing a primary reinforcer at the dog's feet (ordirectly into the dog's mouth) and thus enable the dog to develop aclear positive association between the action, the command, and thereinforcement.

In one implementation, the training apparatus 100 maintains thedispenser in a loaded and armed state. During a dispense routine, thetraining apparatus 100 triggers the dispense actuator to immediatelyeject a primary reinforcer into the working field. Once the dispenserthus ejects a primary reinforcer, the training apparatus 100 canimmediately reset the dispenser actuator and trigger the loader actuatorto load a next primary reinforcer unit into the dispenser.

Because the training apparatus 100 immediately reloads the dispenserafter dispensing a primary reinforcer toward the dog, the dog mayconsume the primary reinforcer while the training apparatus 100 reloadsthe dispenser. Internal mechanical elements and/or primary reinforcerswithin the training apparatus 100 may move during this reload segment ofthe dispense routine, which may cause the training apparatus 100 toproduce an audible (e.g., substantially repeatable) noise. Because thisnoise is made by the training apparatus 100 while the dog consumes thedispensed primary reinforcer, the dog may further associate this noisewith consumption of a reinforcement. The training apparatus 100 canleverage the dog's association between this “reload noise” and areinforcement to call the dog's attention to the training apparatus 100before beginning a later training routine with the dog. (During a reloadprocedure, the training apparatus 100 can also oscillate the loaderactuator in order to jostle primary reinforcers in the reservoir, whichmay both: prevent jams in the loader; and increase the amplitude andduration of noise created by the training apparatus 100 during thereload procedure, which may further reinforce the dog's association ofthis reload noise to a reinforcement.)

At the conclusion of a dispense routine, the dispenser can therefore bereloaded with a primary reinforcer and armed to rapidly dispense thisprimary reinforcer into the working field upon completion of a nextcommand by the dog (or upon continuation of the same pose by the dogover some time interval).

1.7 Initial Training Protocol

During a first training protocol to teach the dog a new command (e.g.,to “sit” on command): the user can place the dog in front of or nearsystem; the user can place the training apparatus 100 in a confinementarea occupied by the dog; or the training apparatus 100 can call the dogto the training apparatus 100, such as by jostling primary reinforcersstored in the reservoir or outputting an audible cue through thespeaker.

The training apparatus 100 then implements methods and techniquesdescribed above to track the dog in the working field. While trackingthe dog, the training apparatus 100 dispenses primary reinforcersthroughout the working field, such as (pseudo)randomly throughout theworking field as the dog builds an association between the trainingapparatus 100 and positive reward (i.e., primary reinforcers).

Over time, the training apparatus 100 can reduce a frequency with whichit ejects primary reinforcers to (pseudo)random locations throughout theworking field; however, the dog may intentionally linger near thetraining apparatus 100 while awaiting additional primary reinforcersdispensed by the training apparatus 100. During this period, thetraining apparatus 100 can continue to: monitor the position,orientation, and pose of the dog, as described above; and update theposition of the dispenser to maintain alignment with the dog. If thetraining apparatus 100 detects that the dog has transitioned into (orthrough) a “sit” pose, such as with a very high degree of confidence,the training apparatus 100 can immediately: execute a dispense routineto eject a primary reinforcer toward the dog's feet; and output anaudible tone, such as within 250 milliseconds of the dog entering (orpassing through) the “sit” pose. In particular, because the trainingapparatus 100 has preloaded a primary reinforcer into the dispenser andmaintained alignment of the dispenser to the dog (or to the dog's mouth)even as the dog has moved throughout the working field, the trainingapparatus 100 can immediately execute a dispense routine to eject aprimary reinforcer at the dog's front feet (and eventually directly intothe dog's mouth), thereby reducing latency between the dog's action andpositive reinforcement for this action, which may exponentially increasethe speed and strength of an association that the dog makes between thispose and this positive reinforcement.

In this implementation, the training apparatus 100 can continue toexecute dispense routines and output the audible tone while the dogremains in the “sit” pose, such as once per two-second interval for upto five intervals in order to reinforce an association between positivereinforcement, this audible tone, and this pose. To prompt the dog tomove into another location in the field, the training apparatus 100 canmove actuators within the training apparatus 100 to align the dispenserto another location in the field and then execute another dispenseroutine to eject a primary reinforcer, which the dog may walk toward.The training apparatus 100 can then repeat the foregoing process torapidly eject a primary reinforcer toward the dog and to output anaudible tone (e.g., again within 250 milliseconds) after detecting thedog once again entering into (or passing through) the “sit” pose. Thetraining apparatus 100 can repeat this process over time—such as over aperiod of ten minutes—to reinforce an association between the “sit”pose, positive reinforcement (e.g., treats), and the audible tone.

While continuing to track the dog, the training apparatus 100 can thentransition into: outputting the audible tone; maintaining alignmentbetween the dispenser and the dog in the field; and then triggering adispense routine to rapidly eject a primary reinforcer into the fieldwhen the dog transitions into the “sit” pose following output of theaudible tone.

Furthermore, as the dog increases a frequency and speed of entering the“sit” pose following output of the audible tone by the trainingapparatus 100, the training apparatus 100 can transition into outputtinga prerecorded oral command—spoken by the dog's owner, as describedabove—for the “sit” command, such as by replaying a “sit” soundbitebefore, during, or after outputting the audible tone. The trainingapparatus 100 can continue to track the dog in the working field,maintain alignment between the dispenser and the dog in the field; andtrigger a dispense routine to rapidly eject a primary reinforcer intothe field when the dog transitions into the “sit” pose following outputof the audible tone and the “sit” soundbite.

Throughout the remainder of this training protocol, the trainingapparatus 100 can reduce the amplitude of the audible tone whilemaintaining or increasing the amplitude of the “sit” soundbite replayedthrough the speaker in order to build an association between: the oralcommand to “sit” spoken by the dog's owner and the “sit” pose.

During this “sit” training protocol, the training apparatus 100 canthus: track the dog's position and pose within the field; intelligentlyand rapidly dispense a primary reinforcer directly at the dog's feet(and eventually directly into the dog's mouth) when the trainingapparatus 100 detects that the dog has entered a desired pose, then whenthe dog has entered this pose responsive to an audible tone, and finallywhen the dog has entered this pose responsive to playback of aprerecorded oral command associated with this pose. By tracking thedog's position and pose in real-time, maintaining the dispenser in anarmed state and in alignment with the dog, and rapidly executingdispense routines when the dog has entered the desired pose, thetraining apparatus 100 can thus limit latency and enable the dog torapidly develop an association between the prerecorded oral command, thedesired pose, and positive reinforcement.

The training apparatus 100 can implement similar methods and techniquesto train the dog to respond to other prerecorded oral commands, such as“down,” “stand,” “stay,” and/or “crate,” etc.

1.8 Closed-loop Primary Reinforcer Trajectory Control

In one variation, the training apparatus 100: tracks the pose andposition of the dog after dispensing a primary reinforcer; estimates anactual location in the field at which the primary reinforcer landed orthe trajectory of the primary reinforcer into the working field based ona change in the position and/or pose of the dog immediately followingthis dispense routine; and modifies calibration values of the dispenseractuator, the horizontal position actuator, and/or the vertical positionactuator to compensate for a difference between the actual location andtarget location for the primary reinforcer dispensed into the field.

Generally, the dog may be likely to walk toward a primary reinforcerresting or moving along the ground plane and to bend to collect theprimary reinforcer with his mouth contacting or coming near the groundplane. Therefore, the training apparatus 100 can: detect and track thedog's mouth (or nose, snout, or head) in color and/or depth imagesrecorded by the training apparatus 100 after ejecting a primaryreinforcer into the field; detect and track a ground plane in theseimages; detect intersection of the dog's nose with the ground plane inthese images; estimate the actual location of this intersection with thelocation at which the primary reinforcer unit landed in the workingfield; and then calculate a difference between a target locationcalculated for this primary reinforcer just before executing thedispense routine and the actual location at which primary reinforcerunit landed. Then, if the actual location at which the primaryreinforcer landed is further from the training apparatus 100 than thetarget location for the primary reinforcer, the training apparatus 100can recalibrate the dispenser to decrease an ejection speed of thedispenser; and vice versa. Similarly, if the actual location at whichthe primary reinforcer landed falls to the right of the target location,the training apparatus 100 can shift a calibration position of thehorizontal position actuator to the left to compensate for thisdifference; and vice versa.

In the variation described above in which the training apparatus 100includes a mechanism to orient the dispenser in the vertical plane andto project a primary reinforcer directly toward the dog's mouth, the dogmay catch a primary reinforcer—ejected by the training apparatus 100—inmid-air. Therefore, in this variation, the training apparatus 100 canalso track the pose of the dog in color and/or depth images recordedjust after the primary reinforcer is dispensed and estimate thetrajectory of this primary reinforcer based on a change in the pose ofthe dog. For example, if system detects—in a series of images recordedjust after the dispense routine—that the dog jumped straight up when theprimary reinforcer was dispensed, the training apparatus 100 canestimate that the primary reinforcer landed in-line with the dog but toohigh; the training apparatus 100 can then recalibrate the dispenseractuator to decrease the ejection speed of primary reinforcers and/ormodify a calibration angle of the vertical position actuator tocompensate. Similarly, if the system detects—in a series of imagesrecorded just after the dispense routine—that the dog jumped forwardwhen the primary reinforcer was dispensed, the training apparatus 100can estimate that the primary reinforcer landed in-line with the dog buttoo low; the training apparatus 100 can then recalibrate the dispenseractuator to increase the ejection speed of primary reinforcers or modifya calibration angle of the vertical position actuator to compensate.

In another implementation, as the training apparatus 100 collects pairsof dispenser positions and primary reinforcer trajectories—derived fromchanges in poses and positions of the dog in the field—over time, thetraining apparatus 100 can then compile these data in a 2D trajectorymap that links the position of the dispenser in the horizontal planeand/or the speed of the dispenser actuator to a position on the groundplane ahead of the training apparatus 100 at which a primary reinforcerwill land. Throughout a training routine, the training apparatus 100 canthus: record a color image and/or depth image of the working field;extract the position and orientation of the dog at the ground plane fromthe color image and/or depth image, as described above; define a target2D location—to dispense a primary reinforcer unit on the ground plane—atthe front feet of the dog; reference the 2D trajectory map to transformthis target 2D location into a target position of the dispenser in thehorizontal plane and/or a target speed of the dispenser actuator, suchas by interpolating between points in the 2D trajectory map; and thendrive the horizontal position actuator to this target horizontalposition. The training apparatus 100 can regularly execute this process,such as at a rate of 30 Hz. When the training apparatus 100 thendetermines that the dog has properly responded to the current commandbased on a position and orientation of the dog in a later color imageand/or depth image, the training apparatus 100 can immediately triggerthe dispenser actuator at the last calculated target speed, therebydispensing a primary reinforcer unit at or near the dog's feet.

During an introduction protocol in which the dog is first introduced tothe training apparatus 100, the training apparatus 100 can implementthese methods to (pseudo)randomly dispense primary reinforcersthroughout the field, to estimate trajectories of these primaryreinforcers based on locations at which the dog's nose intersects theground plane, and to construct this 2D trajectory map according to theseestimated primary reinforcer trajectories while simultaneously teachingthe dog that the training apparatus 100 dispenses primary reinforcers(i.e., acclimating the dog to dispensation of positive reinforcement bythe training apparatus 100).

The training apparatus 100 can then transition into implementing this 2Dtrajectory map to dispense primary reinforcers to target locations onthe ground plane during later training protocols; and the trainingapparatus 100 can continue to update the 2D trajectory map based onfurther interactions with the dog over time.

Similarly, the training apparatus 100 can compile pairs of dispenserpositions and primary reinforcer trajectories collected over time into a3D calibration map that links the position of the dispenser in thehorizontal plane, the position of the dispenser in the vertical plane,and/or the speed of the dispenser actuator to 3D trajectories of primaryreinforcers dispensed from the training apparatus 100. In thisvariation, the training apparatus 100 can: record a color image and/ordepth image of the working field; extract the 3D position andorientation of the dog's mouth in the working field from the color imageand/or depth image; define a target 3D location—to dispense a primaryreinforcer unit—into the dog's mouth; reference the 3D trajectory map totransform this target 3D location into a target position of thedispenser in the horizontal and vertical planes and/or a target speed ofthe dispenser actuator, such as by interpolating between trajectoriesrepresented in the 3D trajectory map; and then drive the horizontal andvertical position actuators to these target horizontal and verticalpositions. The training apparatus 100 can regularly execute thisprocess, such as at a rate of 30 Hz. When the training apparatus 100then determines that the dog has properly responded to the currentcommand based on a position and orientation of the dog in a later colorimage and/or depth image, the training apparatus 100 can immediatelytrigger the dispenser actuator at the last calculated target speed,thereby dispensing a primary reinforcer toward the dog's mouth.

2. Second Method—Voice Command

As shown in FIGS. 3 and 4 , a second method S200 for autonomouslytraining an animal to respond to oral commands includes: prompting auser to select a training protocol from a set of training protocols inBlock S202; prompting the user to record a first audio clip of the userreciting a voice command associated with a target pose within thetraining protocol, the user affiliated with the animal in Block S210;accessing a video feed recorded by an optical sensor during a firsttraining session, the optical sensor integrated into the trainingapparatus and defining a field of view intersecting a working field inBlock S220; in the video feed, detecting the animal within the workingfield in Block S222; while the animal is detected in the working field,playing back the first audio clip via an audio driver integrated intothe training apparatus in Block S230; in the video feed, detecting acurrent pose of the animal in Block S240; calculating a deviationbetween the current pose of the animal and the target pose in BlockS250; in response to the deviation falling within a threshold, playing asecond audio clip comprising a secondary reinforcer in Block S234; anddispensing a first unit of a primary reinforcer via a dispenserintegrated into the training apparatus in Block S260.

2.1 Applications

Generally, like the first method S100, the second method S200 can beexecuted by the training apparatus 100 in cooperation with a nativeapplication executing on a user's mobile device (altogether hereinafter“the system”): to record a user speaking a command; and to autonomouslytrain an animal (e.g., a dog) to consistently perform a behavior orenter a pose associated with this voice command without the userpresent.

In particular, the native application can execute Blocks of the secondmethod S200 to prompt the user to record voice commands and secondaryreinforcers related to a suite of training protocols. For example, thenative application prompts the user to recite the word “sit” as a voicecommand in relation to a sit training protocol for a dog. The nativeapplication crops the recording to remove extraneous silence in therecording and wirelessly transmits the recording to the trainingapparatus. The training apparatus can then execute other Blocks of thesecond method S200 to replay these recordings of the user's voice duringtraining sessions with the dog in order to train the dog to enter posesor perform behaviors associated with these recordings.

The training apparatus executing the second method S200 enables the userto autonomously train a domesticated animal with her own voice while sheis engaging in other activities, or even completely absent from herhome. If an animal is left alone for an extended period during the dayor night, the training apparatus engages with the animal periodically,which engages the animal while the user is away. By using the user's ownvoice during the training sessions, the animal begins to associate theuser's voice as a secondary reinforcer tied to the primary reinforcer(e.g., a treat), which enables the user to reinforce the dog's behavioreven without the primary reinforcer. Additionally, the consistency ofthe method S200 trains the animal in less time than traditional means.

2.2 Example

In one implementation, once the training apparatus is located in aprimary training area (e.g., a living room of an apartment, a backyard),the training apparatus accesses color images and/or depth maps recordedby integrated optical sensors to define and monitor a working fieldnearby. At the start of a training session, the training apparatus:loads a training protocol for a sit command; displays a visual cue toindicate to the animal that a training session has begun; dispenses aprimary reinforcer (e.g., a treat)—via the integrated primary reinforcerdispenser—into the working field in order to draw the animal toward thetraining apparatus; and continues to dispense the primary reinforcer toreward the dog for remaining in the working field. The trainingapparatus can then track the dog in the working field via depth mapsand/or color images recorded by the optical sensors and selectivelydispense additional units of the primary reinforcers when the trainingapparatus detects the dog in the sit pose, and simultaneously plays backthe audio clip of the user reciting the voice command “sit” using theintegrated speakers. The training apparatus then uses machine learningtechniques to identify postures indicating the animal is about to enterinto a sit pose, plays back the voice command before the animal fullyenters the final pose, and dispenses a primary reinforcer to the animalafter the animal fully completes the target pose.

After an initial acclimation period, the training apparatus plays backthe user's “sit” voice command using the speakers while the animal isnot in the sit pose, and if the dog engages in the desired behaviorwithin a set time-increment after the playback of the voice command, thedispenser dispenses a primary reinforcer to the dog and the speakerplays back a secondary reinforcer, e.g. “good dog” recorded in theuser's voice. The training sessions continue periodically until theanimal consistently performs the behavior in response to the user'svoice command with a minimum latency, at which point the trainingapparatus begins the next training session using a different trainingprotocol, e.g. “lay down.” As the animal progresses through the suite oftraining protocols, the training apparatus performs maintenance trainingsessions of training protocols that the animal already mastered toensure that the animal maintains a baseline level of mastery, as well asto keep the animal engaged and interested.

In some instances, certain animals may become disinterested in thetraining apparatus prior to reaching a level of positive associationrequired to fully execute the method. The training apparatus runssimultaneous reinforcement schedules (the standard behavior-basedreinforcement schedule and a time-increment reinforcement schedule) inthese instances to keep the animal engaged. In particular, the trainingapparatus outputs the voice command and starts a timer. If the dog doesnot perform the target pose within a first time-increment, e.g. 30seconds, the training apparatus dispenses a primary reinforcer to thedog, replays the target voice command, and restarts the timer for asecond increment, e.g. 60 seconds. The training apparatus continues toincrease the time-increment up to a maximum time-increment, e.g. 120seconds, such that the animal will not wait longer than 120 secondswithout receiving a primary reinforcer for the duration of the trainingsession. If, during any of these time-increments, the animal performsthe target behavior, the training apparatus dispenses a primaryreinforcer, and restarts the timer to the current time-increment.

2.3 Voice Training

The system can execute blocks of second method S200 to train an animalto respond to a user's voice.

2.3.1 Selecting Training Protocol

Block S202 of the second method S200 recites: prompting a user to selecta training protocol from a set of training protocols. Generally, inBlock S202, the mobile device or native application interfaces with theuser to display a set of training protocols within the nativeapplication and prompts the user to elect a training protocol from theset. The mobile device or native application then queues the trainingprotocol selected by the user at the training apparatus.

Alternatively, the training apparatus can be automatically preloadedwith a default initial training protocol or default sequence of trainingprotocols that the training apparatus executes automatically over aseries of training sessions with the dog. In one implementation, thetraining apparatus can automatically execute a default sequence oftraining protocols including: a coarse sit protocol; a fine sitprotocol; a lay down protocol; and then a stay protocol. Upon completionof the default sequence of training protocols with the animal, themobile device or native application can interface with the user to electa next training protocol, as described above.

2.3.2 Voice Command

Block S210 of the second method S200 recites: prompting a user to recorda first audio clip of the user reciting a voice command associated witha target pose, the user affiliated with the animal. Generally, in BlockS210 the mobile device or native application interfaces with the user torecord the user speaking a prompt and to associate the recording with acommand within a training protocol configured to train a domesticatedanimal to enter a particular target pose. The mobile device or nativeapplication then wirelessly transmits the recording and associatedtraining protocol to the training apparatus in Block S212. For example,the mobile device or native application can prompt the user to recitethe word “sit,” record the user reciting this command, and associatethis recording with a training protocol configured to train a dog torespond to sit commands; later, during an instance of a training sessionfor the sit training protocol, the training apparatus can replay thisrecording and selectively dispense primary reinforcers (e.g., treats)for the dog responsive to detecting the dog entering a sit positionwithin a limited duration of time following replay of this recording.Therefore, the training apparatus can leverage this recording to trainthe dog to sit responsive to the user's voice in particular, rather thanresponsive to other audio signals such as a generic voice, afactory-recorded voice, or a simple tone.

After initialization, the training apparatus operates autonomouslythroughout the day in the absence of the user. By accessing andreplaying a voice recording of the user speaking a voice commandassociated with the current training protocol, the training apparatuscan train the animal to the user's voice despite the absence of the userduring the training session. Moreover, by providing the trainingapparatus with this audio recording, the user is no longer required tobe present during the training sessions, allowing the dog to be occupiedduring daily periods of the user's absence.

In one implementation, the system plays back the recording and promptsthe user to confirm the accuracy of the recording with the prompt forthe voice command. Additionally, the mobile device or native applicationmay prompt the user to record variations of the voice command (e.g. indifferent tones of voice), in different languages, or differentwordings. The native application may then associate the variations ofthe voice command with variations of a single pose. In Block S216 of themethod S200, after the user is satisfied with the recording orrecordings, the mobile device or native application can crop the audioclip to remove silence at the beginning and end of the audio clip. Byremoving any pauses at the beginning of the recording, the trainingapparatus can accurately playback the voice command at the correctinstant during the training sessions, which can eliminate theopportunity for latency errors during training that may delay theanimal's training. The degree of association the dog makes between acommand, a behavior, and a reward is inversely proportional to theamount of time between the behavior and the reward, and the command andthe behavior.

In one implementation, the system records the user reciting a voicecommand and autonomously adjusts the phase and frequency of therecording to emulate a target quality of a voice command.

In one implementation, the training apparatus includes an integrateddisplay. The integrated display projects a menu of options prompting theuser to initialize the device. After the user selects the option tobegin recording on the display, an integrated microphone on the trainingapparatus begins recording the user as the user recites voice commands.The training apparatus then stores these audio clips locally and uploadsto these audio clips to cloud storage. The audio clips can then bedownloaded to additional training apparatuses, to mobile devices runningthe native application, or to web-based applications accessible vialogin on any appropriate device.

2.3.3 Accessing Video Feed

Block S220 of the second method S200 recites: accessing a video feedrecorded by an optical sensor during a first training session, theoptical sensor integrated into the training apparatus and defining afield of view intersecting a working field. Generally, in Block S220,the system prompts the user to begin a training session through thenative application on her mobile device or prompts her to select timesor a block of time for training sessions. Once the user initiates thefirst training session, the training apparatus accesses onboard cameras,generally a color camera configured to output 2D color images(hereinafter “color images”) and a depth camera configured to output 3Ddepth maps or point clouds (hereinafter “depth images”), and records thearea in front of the training apparatus and stores a series of staticimages as references for defining the working field. In the case of aworking field which already contains either the animal, the user, or anyother non-static entities (e.g. non-users, other animals, ornon-sentient yet mobile objects), the integrated or cloud-basedprocessor utilizes AI/machine-learning/computer-vision techniques toidentify and tag each non-static (or temporarily static) entity, as wellas each static entity. The processor then wirelessly communicates withthe cloud server and accesses a suite of reference data to define theanimal, the user, and the working field autonomously. In anotherimplementation, the training apparatus downloads data associated with aspecific animal or breed of animal prior to the start of the firsttraining session and stores the data locally on the training apparatus.In another implementation, the processor wirelessly transmits the dataconcerning the working field and the non-static entities to the user'smobile device, wherein the mobile device or native application promptsthe user to identify each tagged entity as either the user, the animal,or something to ignore.

In another implementation, the user is prompted to move the trainingapparatus to different locations to create a comprehensive 3D map of aroom the user has chosen as the primary training location. At the startof each training session, the training apparatus compares the initialview from the camera with the comprehensive 3D map in order to definethe working field as within the primary training location. In anotherimplementation, the training apparatus defines the working field as theview from the optical sensors.

2.3.4 Detecting the Animal

Block S222 of the second method S200 recites: in the video feed,detecting the animal within the working field. Generally, in Block S222,the system accesses onboard cameras and scans the area in front of thetraining apparatus for the animal. The working field may have beenpreviously defined, or may be defined at the start of each trainingsession. The processor on the training apparatus scans the video datafrom the training session and references either local data or cloud datato identify and tag the animal. Detecting the animal may include notinga moving object in the working field. Detecting the animal may alsoinclude defining elements associated with animals, (e.g., eyes, nose,mouth, legs, spine, etc.). In one implementation, the system detects anddefines a dog by tagging nodes along the spine of the dog to create adynamic spline.

2.3.5 Playing Voice Command

Block S230 of the second method S200 recites: while the animal isdetected in the working field, playing back the first audio clip via anaudio driver integrated into the training apparatus. Generally, in BlockS230 the training apparatus accesses the audio clip recorded by the userwhich relates to the current training protocol and plays the audio clipthrough the integrated speakers of the training apparatus. For example,if the user has chosen a sit training protocol for a dog, the trainingapparatus outputs a recording of the user saying “sit” upon detection ofa dog in the working field. In one implementation, the system plays asingle recording of the of the user's voice command in each trainingsession. In another implementation, the system can cycle throughvariations of the user's voice command throughout a single trainingsession. For example, during a training session the system can play anunedited recording of the user saying “sit” in the first instance ofoutputting the voice command, and then play a second version of therecording of the user saying “sit” (e.g., wherein the system plays therecording at a slower speed) in the second instance of outputting thevoice command. The system can then identify certain variations of thevoice command that the dog responds to more quickly and later play thosevariations back to the user.

2.3.6 Detecting Current Pose

Block S240 of the second method S200 recites: in the video feed,detecting a current pose of the animal. Generally, in block S240 of thesecond method S200, the training apparatus can implement machinelearning and computer vision methods and techniques to detect and trackthe pose of the dog in the working field. In one variation, theprocessor scans frames of the video feed for target markers associatedwith certain poses of the animal. The markers are defined by theprocessor based on predefined markers within exemplary poses storedlocally on the training apparatus. For example, markers defining a dog'seyes, nose, and mouth may be grouped together to define the dog's head,and markers defining the dog's tail and each of a dog's paws may definethe dog's body. The processor then records the relative position of eachmarker to define the dog's current pose.

2.3.7 Calculating Deviation

Block S250 of the second method S200 recites: calculating a deviationbetween the current pose of the animal and the target pose. Generally,in Block S250 the processor calculates a distance between the locationsof each marker in the image captured from the video feed to a referencepoint, and then calculates the variance of the positions to each of aset of relative marker orientations that define a pose.

In one implementation, the training protocol defines a sit positionbased on the relative position of paw, tail, and head markers. Thetraining apparatus detects the dog's markers for paw, tail, and head.For example, if the training apparatus detects that the markers for eachof the dog's paws and the marker for the dog's tail are all intersectingwith the ground plane, while the markers for the dog's head are at adistance above the ground plane approximately equal to the dog's height,the system can confirm that the dog is in a sitting position. In anotherexample, if the markers for the dog's paws, tail, and mouth are allintersecting with the ground plane, the processor can confirm that thedog is in a laying position. If, in the above examples, the markers forthe dog's head were at a point or points in between the ground plane andthe distance above the ground plane equal to the dog's height, theprocessor can calculate the distance between the current position of themarkers and the target position of the markers depending on the targetpose (sitting or lying) for each selected frame of the video feed, andin the instance of the sit target position, dispense a primaryreinforcer once the markers for the dog's head reached 90% of the dog'sheight. Additionally, the processor can calculate an average deviationbetween each marker and its respective target marker.

In another example, if in a first frame the markers for the dog's pawsare below the markers for the dog's head and tail, and in a second framethe markers for the dog's paws are above the markers for the dog's headand tail, and in a third frame the markers for the dog's paws are onceagain below the markers for the dog's head and tail, the processor canconfirm the dog to be rolling over.

In another implementation, the training apparatus defines the targetpose based on the dog's spine profile relative to the ground plane. Thesystem engages edge detection methods and techniques to detect the spineof the dog and then creates a spline to define the spine, and splineranges, within bands of acceptable splines, define the target poses. Thesystem accesses a broad range of permissible splines at the beginning ofthe training sessions, and a narrower range of permissible splinestoward the end of the training sessions.

2.3.8 Primary Reinforcer and Secondary Reinforcer

Block S250 of the second method S200 recites: in response to thedeviation falling within a threshold: playing a second audio clip S234comprising a secondary reinforcer and dispensing a first unit of aprimary reinforcer S260 via a dispenser integrated into the trainingapparatus. Generally, in Block S250 each training protocol defines anacceptable deviation threshold associated with the target pose, and whenthe animal's pose falls within that threshold, the training apparatusplays a secondary reinforcer through the onboard speaker (Block S234),and ejects a primary reinforcer to the animal (Block S260). In onevariation, the system calculates that the current pose of the animalfalls within 90% of the target pose, and dispenses a primary reinforcerto the animal. For example, after the optical sensors detect that theanimal entered an acceptable form of the sit position, the integratedspeakers output a recording of the user saying “good dog” and thedispenser ejects a primary reinforcer to the dog's feet.

Block S214 of the second method S200 recites: prompting the user torecite the secondary reinforcer comprising praise and recording thesecond audio clip during oral recitation of the praise by the user.Generally, in Block S214, the mobile device or native applicationinterfaces with the user to record the user speaking a prompt and toassociate the recording with a secondary reinforcer within a trainingsession configured to train a domesticated animal to enter a particulartarget pose. For example, the mobile device or native application canprompt the user to recite the phrase “good dog” and record the userreciting this praise, and associate this recording with all trainingprotocols or a subset of the training protocols. Later, during aninstance of a training session, the training apparatus can replay thisrecording immediately prior to (or concurrently with, such as within onesecond of) dispensing primary reinforcers (e.g., treats) for the dogresponsive to detecting the dog entering a sit position. The dog thenassociates receiving a primary reinforcer not only with performing thetask, but also with hearing the praise. The positive association withthe user/owner's praise allows the training apparatus and the user toeventually reward the dog with praise in lieu of a primary reinforcer.The system can prompt the user to record secondary reinforcers duringthe same period that the system prompts the user to record voicecommands, or the system can display the prompts at different timesthroughout the training cycles to alleviate the initial burden on theuser.

2.3.9 Updating Confidence Score

Block S256 of the second method S200 recites: in the video feed,detecting a second pose of the animal; calculating a deviation betweenthe second pose of the animal and the target pose; updating a confidencescore if the second pose exceeds the desired threshold; in response tothe confidence score exceeding a target score, playing back the secondaudio clip comprising the secondary reinforcer; and dispensing the firstunit of the primary reinforcer via the dispenser integrated into thetraining apparatus. Generally, in Block S256, the system continues totrack the animal after detecting the animal in the target pose, detectsa second pose of the animal, and calculates a deviation between thesecond pose of the animal and the target pose. If the second deviationand the first deviation both fall in a range defined by the trainingprotocol, the training apparatus plays the secondary reinforcer from theintegrated speaker and dispenses a first unit of the primary reinforcer.If the second deviation falls out of the range defined by the trainingprotocol, the system can continue to execute Block S256 of the methoduntil two adjacent deviations fall in range. For example, if the dogsits only momentarily during a training session running the sit trainingprotocol, the system can detect that the dog is no longer sitting andwithhold the first primary reinforcer until the dog remains in the sitposition for at least two scan cycles. Thus, the dog is consistentlyrewarded only for fully executing the target pose.

2.3.10 Only My Voice

Block S232 of the second method S200 recites: accessing a third audioclip of an unknown second voice reciting the voice command. Generally,in Block S232, the training apparatus downloads a training protocol froma cloud server responsive to a user's instructions, and accesses a setof audio clips associated with the current training protocol. Eachtraining protocol includes a set of prerecorded voice commands, whichcan be recorded by voice actors, or output by a robotic voice emulator.Additionally, the mobile device or native application may prompt theuser to record voice commands by friends, family, and neighbors. Thetraining apparatus plays the audio clips from the associated usersduring certain training protocols in order to train the dog to respondto other voices in addition to the user's voice.

Alternatively, the training apparatus may play non-user voice commandsand withhold a primary reinforcer in Block S228 even if the dog performsthe associated behavior. By selectively rewarding the animal only afterplaying the user's voice command, the dog is trained to only respond tothe user. For example, if the system plays a recording of a voice actorreciting the voice command “sit” in Block S232 and the dog enters thesit pose, the system does not dispense a primary reinforcer in BlockS228.

2.4 Visual Cue Initialization

Block S224 of the second method S200 recites: in response to detectingthe animal in the working field, activating a visual cue for theduration of the first training session. Generally, in Block S224, thetraining apparatus accesses the optical sensors and scans the workingfield for the animal. Upon detection of the animal, the trainingapparatus displays a visual cue with the visual display to indicate tothe animal that a training session is active. For example, the visualdisplay can activate an LED array depicting the shape of a bone duringtraining sessions. The training apparatus may also display the visualcue at the start of a training session when the animal is not detectedin the working field.

The system can then implement Blocks S220, S222, S240, S250 and S260 (inthe video feed, detecting a first current pose of the animal;calculating a first deviation between the first current pose of theanimal and a target pose; in response to the first deviation fallingwithin a threshold, dispensing a first unit of a primary reinforcer viaa dispenser integrated into the training apparatus) as described above.

For dogs and/or users with full or partial hearing impairment, thetraining apparatus can prompt the user to record video of herselfperforming physical gestures as commands. The training apparatus canrecord the user via the camera on the user's mobile device or theintegrated optical sensors on the training apparatus. In oneimplementation, the training apparatus provides the user with exemplaryvideos of physical commands associated with each training protocol.

Alternatively, the training apparatus can display the visual cue as asecondary reinforcer concurrently with dispensing the primaryreinforcer.

2.5 Audio Cue Initialization

Block S242 of the second method S200 recites: in the video feed,detecting an initial posture of the animal associated with a transitioninto the target pose. Generally, in Block S242, the training apparatusaccesses the optical sensors to view the working field and can implementmethods and techniques to detect and track the poses of the dog in theworking field. As the training apparatus tracks the animal, theprocessor identifies postures of the dog that indicate the dog isentering the target pose.

Blocks S236 and S262 of the second method S200 recite: in response todetecting an initial posture of the animal associated with a transitioninto the target pose, playing an audible cue associated with the targetpose as the animal transitions into the target pose; and dispensing asecond unit of the primary reinforcer. Generally, in Block S236, upondetection of an initial posture of the animal, the system outputs a tonein real-time before the animal fully transitions into the target pose.Upon recognition of an initial posture, the training apparatus outputsan audio cue in real-time, before the dog is in the target position. Forexample, if the training apparatus detects the dog bending its hindlegs, the integrated speakers output a pleasing tone before the animalgets to the sit position, and subsequently the dispenser ejects aprimary reinforcer to the dog S262 after the dog fully enters the sitpose.

In particular, the training apparatus can train the animal with audibletones—exclusive of visual cues and recordings of the user's voice—duringa training session. For example, the training apparatus can detect—inthe video feed—the dog beginning to crouch into a sitting position andthen output an audible tone (e.g., a recording or synthetic emulation offingers snapping, hands clapping, or a whistle; a pure tone) via theintegrated speakers accordingly. The training apparatus can thendispense a primary reinforcer upon detecting the dog fully entering thesit position, thereby reinforcing an association between the audibletone and the sit position for the dog. The training protocols caninclude a set of tones output by the training apparatus in lieu of arecording of the user's voice if the user has not yet recorded voicecommands.

2.6 Audio Cue Training

Blocks of the second method S200 recite: in the video feed, detecting asecond current pose of the animal; calculating a second deviationbetween the second current pose of the animal and the target pose; inresponse to the second deviation falling outside of the threshold,playing the audible cue; initiating a timer for a fixed interval; in thevideo feed, detecting a third current pose of the animal; calculating athird deviation between the third current pose of the animal and thetarget pose; in response to the third deviation falling within thethreshold prior to an expiration of the fixed interval, immediatelydispensing a third unit of the primary reinforcer. Generally the systemcontinues to record the working field with the optical sensors after theanimal initially enters the target pose, and tracks the animal insubsequent poses; the system accesses anatomical definitions of posesfor the animal and calculates a variance between the animal's currentpose and the anatomical definitions of the target pose to confirm thatthe animal is no longer in the target pose. Upon detection of the animalin a pose other than the target pose, the system plays the audio cue andstarts a timer. The system continues to track the animal in the workingfield until the animal enters the target pose, and then immediatelydispenses a primary reinforcer to the animal responsive to the animalentering the target pose. If the timer expires prior to the animalentering the target pose, the system plays the audible cue an additionaltime and restarts the timer for the fixed interval.

In one implementation, the system detects a dog in a standing pose, andcalculates that the standing pose is outside of the threshold of asitting pose. The system then replays the tone associated with the sittraining protocol, and tracks the dog until the dog sits. Upon detectionof the dog entering the sit pose, the training apparatus dispenses aprimary reinforcer to the dog. The system can also play a second tone asa secondary reinforcer concurrently with dispensing the primaryreinforcer.

In one variation, the training apparatus incrementally reduces the fixedinterval down to a target interval after dispensing the third unit ofthe primary reinforcer. Then, in response to the third deviation fallingwithin the threshold prior to the expiration of the target interval, thetraining apparatus can: prompt a user to record a first audio clip ofthe user reciting a voice command associated with a target pose, theuser affiliated with the animal; access a video feed recorded by anoptical sensor during a first training session, the optical sensorintegrated into the training apparatus and defining a field of viewintersecting a working field; and detect the animal within the workingfield via the video feed. Finally, while the animal is detected in theworking field, the training apparatus can: play back the first audioclip via an audio driver integrated into the training apparatus; in thevideo feed; detect a current pose of the animal; calculate a deviationbetween the current pose of the animal and the target pose; and play asecond audio clip comprising a secondary reinforcer and dispense a firstunit of a primary reinforcer via a dispenser integrated in response tothe deviation falling within a threshold.

Generally, the system reduces the fixed interval until the animalreaches a target latency between the audible cue and entering the targetpose. The system then transitions from training the animal with theaudible cue to training the animal with a voice command as in Block S230of the second method S200. In one implementation, the system transitionsfrom audible cue to voice command by playing the voice command at a lowvolume concurrently with playing the audible cue at a normal volume. Thesystem gradually increases the volume of the voice command and decreasesthe volume of the audible cue until the voice command is the only soundplayed by the speaker.

3. Third Method—Reinforcement Schedules

As shown in FIG. 5 , a third method S300 for autonomously training ananimal to respond to oral commands includes: during a firstreinforcement cycle within a first training session, outputting anaudible cue corresponding to a target action in Block S312; and, in avideo feed, detecting completion of the target action by the animal inBlock S314. Then, also during the first reinforcement cycle and inresponse to detecting completion of the target action by the animal, thetraining apparatus can: dispense a first unit of a primary reinforcer inBlock S316; and initiate a timer for a fixed interval betweendispensation of consecutive units of the primary reinforcer in BlockS340. The third method S300 also includes, during a second reinforcementcycle succeeding the first reinforcement cycle within the first trainingsession: outputting the audible cue in Block S322; and in the videofeed, tracking the animal in Block S324. In response to detectingcompletion of the target action by the animal prior to expiration of thetimer, the training apparatus can: output a second audio clip comprisinga secondary reinforcer in Block S326; dispense a second unit of theprimary reinforcer in Block S328; and reinitiate the timer for the fixedinterval between dispensation of consecutive units of the primaryreinforcer in Block S340. In response to expiration of the timer priorto detecting completion of the target action by the animal, the trainingapparatus can: dispense a second unit of the primary reinforcer in BlockS328; output the audible cue in Block S322; and reinitiate the timer forthe fixed interval between dispensation of consecutive units of theprimary reinforcer in Block S340.

3.1 Applications

Generally, the third method S300 can be executed by the trainingapparatus described above to implement concurrent schedules forreinforcing both a dog's engagement with the training apparatus and itsresponse to audible and or visual cues. In particular, dogs candisengage from (e.g., walk away from) the training apparatus whenreinforcer dispense frequency drops below a threshold. For example, adog under six months old may disengage from the training apparatus after60 seconds of not receiving a primary reinforcer from the trainingapparatus; similarly, a dog over six years old may disengage from thetraining apparatus after 120 seconds of not receiving a primaryreinforcer from the training apparatus. Therefore, the trainingapparatus can execute Blocks of the third method S300—concurrently withBlocks of the second method S200 described above—to ensure that primaryreinforcers are dispensed to the dog at a frequency likely to maintainthe dog's engagement (or “keep the dog's attention”) with the trainingapparatus throughout the full duration of a training session.

For example, small dogs, young dogs, less food-oriented dogs, dogs withshorter attention spans, and dogs failing to quickly identify causationbetween poses and primary reinforcers may lose interest in the trainingapparatus before entering a pose indicated by the current trainingprotocol and may therefore exit the working field prior to completion ofthe current training session. Therefore, the training apparatus canconcurrently execute a training protocol that establishes: a basereinforcer schedule for reinforcing target behaviors with primaryreinforcers; and a parallel schedule in which the training apparatusdispenses non-contingent rewards based on maximum time durations betweenreinforcement cycles. For example, during a training session for aparticular pose (or behavior, task), the training apparatus outputs acommand and starts a timer for 30 seconds; if the training apparatusfails to detect the dog in the particular pose upon expiration of thetimer, the training apparatus can dispense a primary reinforcer to thedog despite the dog's failure to enter the specified pose. The trainingapparatus can also increase the duration of the timer, such as from 30seconds to 60 seconds, then 90 seconds, and then 120 seconds as thetraining session progresses and/or as the dog develops a relationshipwith the training apparatus.

3.2 Fixed Interval Reinforcement

In one implementation, Blocks of the third method S300 recite, during afirst reinforcement cycle within a first training session: outputting anaudible cue corresponding to a target action; and—in a videofeed—detecting completion of the target action by the animal. Then, inresponse to detecting completion of the target action by the animal:dispensing a first unit of a primary reinforcer; and initiating a timerfor a fixed interval between dispensation of consecutive units of theprimary reinforcer. Generally, the system executes a first reinforcementcycle based on a fixed interval between dispensation of primaryreinforcers. The system plays an audible cue based on the currenttraining protocol, detects the animal completing the target action forthe first time, dispenses a primary reinforcer, and starts a timer for afixed interval. In one implementation, the system plays a toneassociated with the sit position of a dog; detects the dog sitting;ejects a primary reinforcer to the dog; and starts a timer for 30seconds. At the conclusion of the 30 seconds, an additional primaryreinforcer is ejected to the dog regardless of whether the dog completesthe target pose an additional time.

Additional Blocks of the third method S300 recite: during a secondreinforcement cycle succeeding the first reinforcement cycle within thefirst training session: outputting the audible cue; in the video feed,tracking the animal; in response to detecting completion of the targetaction by the animal prior to expiration of the timer, outputting asecond audio clip comprising a secondary reinforcer; dispensing a secondunit of the primary reinforcer; and reinitiating the timer for the fixedinterval between dispensation of consecutive units of the primaryreinforcer. Generally, the system executes Blocks of the secondreinforcement cycle of the third method S300 based on the animalsuccessfully completing the target pose. The system tracks the poses ofthe animal as in the first reinforcement cycle, dispenses a primaryreinforcer each time the animal enters the target pose, and restarts thetimer after each dispensation.

Additional Blocks of the method S300 recite: during the secondreinforcement cycle succeeding the first reinforcement cycle within thefirst training session, in response to expiration of the timer prior todetecting completion of the target action by the animal, dispensing asecond unit of the primary reinforcer; outputting the audible cue; andreinitiating the timer for the fixed interval between dispensation ofconsecutive units of the primary reinforcer. Generally, the system alsoexecutes Blocks of the second reinforcement cycle of the third methodS300 based on the expiration of a dynamic fixed time-interval. Thesystem tracks the poses of the animal as in the first reinforcementcycle, dispenses primary reinforcers (e.g., treats) each time the fixedtime-interval lapses, and restarts the timer after each dispensation.

In another embodiment, the concurrent schedules may relate to each otherdirectly, wherein the fixed interval schedule can reduce or extend theinterval based on the quality of the targeted behavior. For example, ifthe dog performs the sit pose with a minimum latency response timeduring a sit training protocol, then the system can increase the fixedinterval.

3.3 Maximum Interval

Block S376 of the method S300 recites: incrementally increasing thefixed interval up to a maximum interval between dispensation ofconsecutive units of the primary reinforcer. Generally, in Block S376,the system increases the fixed interval after each dispensation until aset maximum interval. In one implementation, the system defines thefixed interval as 30 seconds after a first dispensation. The system thendefines the fixed interval as 60 seconds after the second dispensation,90 seconds after the third dispensation, and 120 seconds after thefourth dispensation. In this implementation, the system defines themaximum interval as 120 seconds. For any dispensation after the fourthdispensation, the system initiates the timer for 120 seconds. Thus, thedog does not wait more than 120 seconds without receiving a primaryreinforcer, and remains near to and engaged with the training apparatus.The system can define the maximum interval based on animal qualities,e.g., species, breed, size, and/or age.

4. Training Protocols

In variations of the methods described above, the system can execute asuite of training protocols, each associated a target animal behavior,during training sessions with a dog.

4.1 Barking Cessation

In one implementation, the training apparatus executes a barkingcessation session with the dog. During a first segment of the barkingcessation session, the training apparatus can: record a first audiosignal via a microphone integrated into the training apparatus;calculate a first frequency of an animal vocalization in the first audiosignal; and store the first frequency of the animal vocalization as afirst baseline frequency. During a second segment of the barkingcessation session, the training apparatus can: record a second audiosignal via the microphone; calculate a second frequency of the animalvocalization in the second audio signal; and then play back the secondaudio clip, dispensing a second unit of the primary reinforcer via thedispenser, and store the second frequency of the animal vocalization asa second baseline frequency in response to the second frequency of theanimal vocalization falling below a fraction of the baseline frequency.

Generally, in this implementation, the system records an animalvocalization, and dispenses a primary reinforcer if the animal begins tovocalize less. For example, the system can prompt the user to place thetraining apparatus near an area of a home where a dog frequently barks.Throughout the day, the training apparatus detects the dog barking,records for a fixed time period, and establishes a baselinebark-per-minute rate. The system continues to record the dog barking,and if during any subsequent time period the dog barks at lowerbark-per-minute rate, the dog is rewarded with a primary reinforcer, andthe system establishes the lower bark-per-minute rate as the newbaseline rate. Thus, the dog associates barking less with receivingrewards.

4.2 Location-Based Training

In one implementation, the training apparatus executes location-basedtraining. During a first segment of the location-based training session,the training apparatus can: prompt the user to define a primaryengagement location for the training apparatus; prompt the user todefine a first training protocol associated with the primary engagementlocation for the training apparatus; prompt the user to place thetraining apparatus near the primary engagement location during the firsttraining session; prompt the user to define a second training areaassociated with a common frequency of the animal vocalization; andprompt the user to place the training apparatus near the second trainingarea during the second training session.

Generally, the system prompts the user to place the training apparatusin a desired primary location for training, and then prompts the user toselect a primary training protocol. The system then prompts the user toplace the training apparatus in a second location and prompts the userto select training protocols that the user wants to associate with thesecond location. The system can then automatically select appropriatetraining protocols simply by scanning the working field and identifyingthe working field as one of the defined training areas. For example, theuser can select the living room of her home for a primary traininglocation for the sit training protocol, and select the entryway of herhome for a barking cessation training protocol.

In another implementation, the training apparatus includes wheels and/ortreads, and moves from one training location to another traininglocation autonomously. The system can also include an integrated batteryand a charging station. In yet another implementation, the trainingapparatus includes GPS or other geo-location technology, and executesthe location-based training in response to the GPS data.

4.3 Calling Animal to Working Field

In one implementation, the training apparatus can call the animal to theworking field. At a scheduled start time for the first training session,the training apparatus can: activate a visual cue; in the video feed,detect the absence of the animal in the working field at a first time;in response to detecting absence of the animal in the working field,play back the first audio clip; in the video feed, detect the animal inthe working field at a second time succeeding the first time; and, inresponse to detecting the animal in the working field, play back thesecond audio clip; and dispense an initial unit of the primaryreinforcer.

Generally, the system activates a visual cue in response to an internaltimer indicating a start time of a training session associated with atraining protocol. If the training apparatus does not detect an animalin the working field, the system outputs an audio clip through theintegrated speakers. The training apparatus continues to monitor theworking field until the optical sensors detect the animal entering theworking field. Once the system detects the animal, the trainingapparatus dispenses a unit of the primary reinforcer.

In one implementation, the system initializes a come training protocol.The system accesses the integrated cameras and detects that the dog isnot in front of the training apparatus. The system outputs the voicecommand “come” through the integrated speakers. Once the system detectsthe animal in front of the training apparatus, the training apparatusdispenses a primary reinforcer and outputs the secondary reinforcer“good dog” through the speakers.

In another implementation, the training apparatus can also accesscameras and/or speakers located around the house, e.g. a preexistingsecurity system, a set of cameras, or a set of personal roboticassistants. The system can access the remote cameras and implementcertain behavior-specific protocols based on the animal's behavior indifferent locations.

4.3 Animal Anatomical Definitions

Variations of the methods described above include training protocolsassociated with particular animal species and/or breeds.

4.3.1 Training a Dog

In one implementation, the training apparatus can detect a dog in thevideo feed, and access a canine anatomical definition of a target pose(e.g., a dog sit pose). Generally, the training apparatus accesses anappropriate anatomical definition defined by the current trainingprotocol. The system can store the anatomical definition locally on thetraining apparatus after the processor wirelessly downloads thedefinition from a set of anatomical definitions stored remotely. Forexample, the training apparatus prompts the user to select a trainingprotocol from her mobile device. The user selects “dog” as the animal,and “sit” as the training protocol. The mobile device or nativeapplication then wirelessly instructs the training apparatus to downloadand locally store the “dog-sit” training protocol.

In one implementation, the system can access a general “dog” anatomicaldefinition and select training protocols appropriate for any dog type.In another implementation, the system can access specific “dog”anatomical definitions based on dog qualities, (e.g., breed, size,weight, health, etc.). For example, the mobile device or nativeapplication can prompt the user to select the breed and age of theanimal before the start of the first training session. Alternatively,the system can autonomously detect the breed and age of the animal usingcomputer vision techniques and automatically select appropriate trainingprotocols based on the detected breed and age.

4.3.2 Training Other Animals

In another implementation, the system can access training protocols fora variety of domesticated animals, e.g., cats, birds, reptiles, pigs,horses, cattle. For example, the system can identify the animal as a catand engage an integrated laser pointer on the training apparatus toexecute a training protocol.

In yet another implementation, the system can prompt a user to set upthe training apparatus outside of the user's home to train wild animals,e.g., raccoons, squirrels, bears etc.

4.4 Variations of Training Protocols

The training apparatus 100 can implement similar methods and techniquesto output other audible queues to an animal of any other type, torapidly detect other poses or series of poses or behaviors by thisanimal (e.g. rolling over or emitting a sound), and to output positivereinforcement (e.g., by dispensing primary reinforcers) for the animalin order to train the animal to respond to various oral commands byperforming indicated behaviors.

Once a new profile is created for the user's dog, the native applicationcan prompt the user to recite various oral commands for the dog andrecord these oral commands. For example, the native application canprompt the user to orally recite her preferred forms of various oralcommands including: “watch me”; “sit”; “down”; “stand”; “stay”; “heel”;“wait”; “come”; “drop it”; and/or “crate”; etc. During this setupprocess, the native application can: record a discrete soundbite as theuser recites each of these oral commands and a name of her dog; and tageach of these soundbites with a tag for the corresponding command or petname. The native application can then upload these tagged soundbites tothe training apparatus 100 (e.g., directly via a local ad hoc wirelessnetwork).

4.5. Dispenser Protocols

Variations of methods described above can include dispenser protocolsassociated with certain training protocols.

4.5.1 Dispensing to Target Location

In one implementation, the system can detect the location of the animalby accessing the optical sensors and assigning x, y, z, coordinates tothe location. In another implementation, the system can implement othercoordinate systems, e.g., polar, cylindrical, spherical, etc. Inresponse to detecting the current location of the animal, the trainingapparatus can dispense the first unit of the primary reinforcer to atarget location associated with the target pose of the animal. In oneimplementation, the user selects a sit training protocol. Upon detectionof the dog entering the sit pose, the system dispenses the primaryreinforcer to the front feet of the dog, so the dog does not need toleave the sit position to retrieve the primary reinforcer. The systemthen dispenses a primary reinforcer to a second location away from thedog, so the dog must leave the sit position in order to retrieve theprimary reinforcer. Thus, the system can output the sit command againduring the training session after the dog leaves the first sit position.

In another implementation, if the system detects that the animal is tooclose to the training apparatus, the training apparatus can dispense aprimary reinforcer behind the animal to coax the animal further out intothe working field. Or, conversely, if the animal is too far away, thesystem can dispense a primary reinforcer closer to the trainingapparatus to coax the animal closer. For example, the system can defineproximity bands or radial zones in the working field at radii of 0.5 m,1 m, 1.5 m, 2 m, etc. The system can output the voice command “come” anddispense a primary reinforcer into a proximity band closer to thetraining apparatus than the proximity band currently occupied by theanimal.

In another implementation, the dispenser is configured to dispense andreceive tennis balls or toys during a “fetch” training protocol.

4.5.2 Calibrating Dispenser

In one implementation, the system can execute a dispenser calibrationprotocol. Generally, the training apparatus can: dispense the primaryreinforcer to a target location; in the video feed, detect a snoopingpose of the animal and subsequently detect a chewing pose of the animal.The system then defines the location of the snooping pose immediatelypreceding the chewing pose as the location of the primary reinforcer.The system then calibrates the target trajectory of the dispenseraccording to the location of the primary reinforcer.

Generally, the system dispenses a unit of the primary reinforcer andtracks the animal searching for the primary reinforcer and subsequentlyeating the primary reinforcer. For example, the system dispenses aprimary reinforcer to a target location away from the dog. The systemwill record frames of the dog searching for the primary reinforcer, andupon detecting the dog eating the primary reinforcer, the system flagsthe last location that the dog searched prior to eating the primaryreinforcer as the location of the primary reinforcer. The system canthen update trajectory protocols of the dispenser accordingly.

4.6. Sound Sensitive Animals

Additionally, the training apparatus can train sound sensitive animalsto acclimate to, and positively associate with, trigger noises commonlyfound objectionable. In one implementation, after an initial trainingperiod, the system can introduce a target noise at a low volume during atraining session. For example, the system can play a recording of thesound of a vacuum cleaner at volume almost indiscernible to the dog atthe start of a training session. The system can then slowly increase thevolume of the recording during the training session to acclimate theanimal to the trigger noise.

In another implementation, the system plays a sound clip of the triggernoise concurrently with dispensation of a primary reinforcer. The systemcan track the reaction of the animal to the sound clip and modify thevolume/duration of the sound clip if the animal does not accept theprimary reinforcer as a result of the sound clip of the trigger noise.Moreover, the system can also assist animals with general developmentalissues, e.g. separation anxiety.

4.6.1 Masking Dispenser Noise

The speaker may also be used to output sounds to mask other soundsgenerated by the training apparatus that may cause sound sensitiveanimals to disengage with the training apparatus. For example, clicksand whirring generated by the treat reloading mechanisms may frightencertain animals. To avoid this, the speaker may generate a white or pinknoise at a low volume and slowly increase the volume in anticipation ofthe reloading mechanism engaging.

In one variation, the training apparatus loads the dispenser with thefirst unit of the primary reinforcer concurrently with playing of thesecond audio clip during a first time-interval. The training apparatusthen dispenses the first unit of the primary reinforcer during a secondtime interval succeeding the first time-interval. To reload thedispenser, the training apparatus can activate the reload mechanism,which may generate noise (e.g., “clicking,” “whirring”) that frightensthe dog, triggers the dog to retreat from the training apparatus priorto conclusion of the training session, and/or prompts the dog to developa negative association with the training apparatus. Therefore, thetraining apparatus can reload the dispenser while outputting the secondaudio clip or other audible reinforcer at a volume about the noise floorof the reload mechanism in order to mask noise generated by the reloadmechanism and thus reduce likelihood that the dog is frightened by thetraining apparatus.

In another variation, the training apparatus dispenses the first unit ofthe primary reinforcer concurrently with playing of the second audioclip during a first time-interval; and reloads the dispenser with asecond unit of the primary reinforcer during a second time intervalsucceeding the first time-interval.

The systems and methods described herein can be embodied and/orimplemented at least in part as a machine configured to receive acomputer-readable medium storing computer-readable instructions. Theinstructions can be executed by computer-executable componentsintegrated with the application, applet, host, server, network, website,communication service, communication interface,hardware/firmware/software elements of a user computer or mobile device,wristband, smartphone, or any suitable combination thereof. Othersystems and methods of the embodiment can be embodied and/or implementedat least in part as a machine configured to receive a computer-readablemedium storing computer-readable instructions. The instructions can beexecuted by computer-executable components integrated bycomputer-executable components integrated with apparatuses and networksof the type described above. The computer-readable medium can be storedon any suitable computer readable media such as RAMs, ROMs, flashmemory, EEPROMs, optical devices (CD or DVD), hard drives, floppydrives, or any suitable device. The computer-executable component can bea processor but any suitable dedicated hardware device can(alternatively or additionally) execute the instructions.

As a person skilled in the art will recognize from the previous detaileddescription and from the figures and claims, modifications and changescan be made to the embodiments of the invention without departing fromthe scope of this invention as defined in the following claims.

We claim:
 1. A method for autonomously training an animal with a training apparatus, comprising: receiving selection of a sit training protocol selected by a user affiliated with the animal; prompting the user to record a first audio clip of the user reciting a voice command associated with a target pose within the sit training protocol; accessing a video feed recorded by an optical sensor during a first training session of the sit training protocol, the optical sensor integrated into the training apparatus and defining a field of view intersecting a working field; in the video feed, detecting the animal at a first location within the working field; defining a target location for dispensation of a primary reinforcer based on the target pose and the first location of the animal in the working field; while the animal is detected in the working field, playing back the first audio clip of the voice command via an audio driver integrated into the training apparatus; in response to playing back the first audio clip: in the video feed, detecting a first pose of the animal; calculating a deviation between the first pose of the animal and the target pose; and in response to the deviation falling within a threshold deviation: playing a second audio clip comprising a secondary reinforcer; and dispensing a first unit of a primary reinforcer via a dispenser integrated into the training apparatus, toward the target location in the working field.
 2. The method of claim 1: wherein detecting the animal at the first location within the working field comprises detecting a dog at the first location in the working field; further comprising accessing a canine anatomical definition of the target pose comprising a sit pose; wherein prompting the user to record the first audio clip of the user reciting the voice command associated with the target pose comprises: prompting the user to record the first audio clip of the user reciting a sit command associated with the sit pose; and recording the first audio clip of the user reciting the sit command; and wherein calculating the deviation between the first pose of the animal and the target pose comprises calculating the deviation between the first pose of the dog and the canine anatomical definition of the sit pose.
 3. The method of claim 1: further comprising: prompting the user to recite the secondary reinforcer comprising praise; and recording the second audio clip during oral recitation of praise by the user; and wherein playing the second audio clip comprising the secondary reinforcer comprises playing the second audio clip comprising praise.
 4. The method of claim 1: wherein playing back the second audio clip comprises playing back the second audio clip during a first time-interval; further comprising loading the dispenser with the first unit of the primary reinforcer concurrently with playing back the second audio clip during the first time-interval; and wherein dispensing the first unit of the primary reinforcer comprises dispensing the first unit of the primary reinforcer during a second time interval succeeding the first time-interval.
 5. The method of claim 1: wherein playing back the second audio clip comprises playing back the second audio clip during a first time-interval; wherein dispensing the first unit of the primary reinforcer comprises dispensing the first unit of the primary reinforcer concurrently with playing back the second audio clip during the first time-interval; and further comprising reloading the dispenser during a second time interval succeeding the first time-interval.
 6. The method of claim 1: further comprising: in the video feed, detecting a second pose of the animal; calculating a second deviation between the second pose of the animal and the target pose; updating a confidence score for realization of the target pose by the animal in response to the second deviation falling within the threshold deviation; wherein dispensing the first unit of the primary reinforcer comprises dispensing the first unit of the primary reinforcer in response to the confidence score exceeding a target score.
 7. The method of claim 1, further comprising: in the video feed, detecting a snooping pose of the animal at a first time; in the video feed, detecting a chewing pose of the animal at a second time following the first time; interpreting a location of the snooping pose preceding the chewing pose as a landing location of the primary reinforcer; and calibrating the dispenser according to the landing location of the primary reinforcer.
 8. The method of claim 1, further comprising: during a first segment of a second training session, recording a first audio signal via a microphone integrated into the training apparatus; calculating a first frequency of animal vocalizations in the first audio signal; storing the first frequency of the animal vocalization as a first baseline frequency; during a second segment of the second training session succeeding the first segment, recording a second audio signal via the microphone; calculating a second frequency of animal vocalizations in the second audio signal; and in response to the second frequency of the animal vocalization falling below a fraction of the baseline frequency: playing back the second audio clip; dispensing a second unit of the primary reinforcer via the dispenser; and storing the second frequency of the animal vocalization as a second baseline frequency.
 9. The method of claim 8, further comprising: prompting the user to define a primary engagement location for the training apparatus; -associating the sit training protocol with the primary engagement location for the training apparatus; prompting the user to place the training apparatus near the primary engagement location during the first training session; prompting the user to define a second training area associated with the animal vocalization; and prompting the user to place the training apparatus near the second training area during the second training session.
 10. The method of claim 1, further comprising: accessing a third audio clip of a second voice reciting the voice command; while the animal is detected in the working field, playing back the third audio clip via the audio driver integrated into the training apparatus; in the video feed, detecting a second pose of the animal; calculating a second deviation between the second pose of the animal and the target pose; and in response to the second deviation falling within the threshold deviation, withholding a second unit of the primary reinforcer from the animal.
 11. The method of claim 1: further comprising, at a scheduled start time for the first training session: activating a visual cue; in the video feed, detecting absence of the animal in the working field ; in response to detecting absence of the animal in the working field, playing back the first audio clip at a first time; in the video feed, detecting the animal in the working field at a second time succeeding the first time; and in response to detecting the animal in the working field: playing back the second audio clip; and dispensing an initial unit of the primary reinforcer; and wherein the dispensing the first unit of the primary reinforcer comprises dispensing the first unit of the primary reinforcer at a third time succeeding the second time.
 12. A method for autonomously training an animal with a training apparatus, comprising: accessing a video feed recorded by an optical sensor during a first training session, the optical sensor integrated into the training apparatus and defining a field of view intersecting a working field; in the video feed, detecting the animal within the working field; in response to detecting the animal in the working field, activating a visual cue associated with a target pose of the animal; in response to activating the visual cue: in the video feed, detecting a first pose of the animal at a first time; and in response to the first pose anticipating the target pose, outputting an audible cue associated with the target pose as the animal transitions from the first pose into the target pose; in the video feed, detecting a second pose of the animal at a second time succeeding the first time; calculating a first deviation between the second pose of the animal and the target pose; and in response to the first deviation falling within a threshold deviation, dispensing a first unit of a primary reinforcer via a dispenser integrated into the training apparatus.
 13. The method of claim 12, further comprising: in the video feed, detecting a pose of the animal at a third time succeeding the second time; calculating a second deviation between the third pose of the animal and the target pose; in response to the second deviation falling outside of the threshold deviation difference: outputting the audible cue; and initiating a timer for a fixed interval; in the video feed, detecting a fourth pose of the animal at a fourth time succeeding the third time; calculating a third deviation between the fourth pose of the animal and the target pose; and in response to the third deviation falling within the threshold deviation prior to expiration of the timer, dispensing a second unit of the primary reinforcer.
 14. The method of claim 13, further comprising: prompting a user to record a first audio clip of the user reciting a voice command associated with the target pose, the user affiliated with the animal; and succeeding dispensation of the second unit of the primary reinforcer: reducing the fixed interval to a target interval; while the animal is detected in the working field, playing back the first audio clip via an audio driver integrated into the training apparatus; in the video feed, detecting a fifth pose of the animal at a fifth time succeeding the fourth time; calculating a fourth deviation between the fifth pose of the animal and the target pose; and in response to the fourth deviation falling within the threshold deviation: playing back a second audio clip comprising a secondary reinforcer; and dispensing a fourth unit of the primary reinforcer.
 15. A method for autonomously training an animal with a training apparatus, comprising: prompting a user affiliated with the animal to select a training protocol from a set of training protocols; prompting the user to record a first audio clip of the user reciting a voice command associated with a target pose within the training protocol; and during the first training session for the training protocol: accessing a video feed recorded by an optical sensor integrated into the training apparatus and defining a field of view intersecting a working field; at a scheduled start time for the first training session, activating a visual cue at the training apparatus; in the video feed, detecting absence of the animal in the working field at a first time; in response to detecting absence of the animal in the working field, playing back an audible cue via an audio driver integrated into the training apparatus; in the video feed, detecting the animal in the working field at a second time succeeding the first time; in response to detecting the animal within the working field: playing back a second audio clip comprising a secondary reinforcer; and dispensing an initial unit of a primary reinforcer into the working field via a dispenser integrated into the training apparatus; while the animal is detected in the working field, playing back the first audio clip; in response to playing back the first audio clip: in the video feed, detecting a first pose of the animal; calculating a deviation between the first pose of the animal and the target pose; and in response to the deviation falling within a threshold deviation: playing back the second audio clip; and dispensing a first unit of a primary reinforcer into the working field.
 16. The method of claim 15, further comprising: detecting a current location of the animal in the working field; defining a target location for the target pose in the working field based on the current location of the animal; and wherein dispensing the first unit of the primary reinforcer via the dispenser integrated into the training apparatus comprises dispensing the first unit of the primary reinforcer toward the target location.
 17. The method of claim 16: wherein prompting the user to select the training protocol from the set of training protocols comprises recording selection of a sit training protocol by the user; and wherein defining the target location comprises defining the target location proximal the feet of the animal.
 18. The method of claim 16: wherein prompting the user to select the training protocol from the set of training protocols comprises recording selection of a come training protocol by the user; wherein detecting the current location of the animal comprises detecting the animal within a first radial zone proximal the training apparatus; wherein defining the target location comprises defining the target location proximal within the first radial zone between the animal and the training apparatus.
 19. The method of claim 15: wherein detecting the animal within the working field comprises detecting the animal comprising a dog within the working field; further comprising accessing a canine anatomical definition of the target pose comprising a sit pose; wherein prompting the user to record the first audio clip comprises: prompting the user to recite the voice command comprising a sit command for the sit pose; and recording the first audio clip of the user reciting the sit command; and wherein calculating the deviation between the first pose of the animal and the target pose comprises calculating the deviation between the first pose of the dog and the canine anatomical definition of the sit pose.
 20. The method of claim 15: wherein dispensing the primary reinforcer comprises dispensing the primary reinforcer to a target location within the working field; and further comprising: in the video feed, detecting a snooping pose of the animal at a first time; in the video feed, detecting a chewing pose of the animal at a second time following the first time; interpreting a location of the snooping pose preceding the chewing pose as a landing location of the primary reinforcer; and calibrating the dispenser according to the landing location of the primary reinforcer. 